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386 lines
16 KiB
Python
386 lines
16 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
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import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
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import math
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import time
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###############################################################################
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# porcou.py
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# @title: Commandes pour le portail coulissant
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# @project: Blender-EduTech
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2020-2023 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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# Récupérer la scène UPBGE
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scene = bge.logic.getCurrentScene()
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# Configuration du brochage du jumeau réel
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# 'nom_variable' : [['type de broche (d,a,p) ','mode de la broche (i,o)'],
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# ['Objet 3D','pin'],
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# ['marque', 'type de ligne', 'couleur', linewidth]] (matplotlib)
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pin_config = {
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'bp_ext' : [['d','i'],['Bp cote rue','pin'],['o','-', 'blue', 1]],
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'bp_int' : [['d','i'],['Bp cote cour','pin'],['o','-', 'darkblue', 1]],
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'fdc_o' : [['d','i'],['Microrupteur fdc ouvert','pin'],['o','-', 'violet', 1]],
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'fdc_f' : [['d','i'],['Microrupteur fdc ferme','pin'],['o','-', 'darkviolet', 1]],
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'mot_o' : [['d','o'],['Moteur','pin_o'],['o','-', 'green', 1]],
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'mot_f' : [['d','o'],['Moteur','pin_f'],['o','-', 'darkgreen', 1]],
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'gyr' : [['d','o'],['Led','pin'],['o','-', 'orange', 1]],
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'ir_emet' : [['d','o'],['Emetteur IR','pin'],['o','-', 'red', 1]],
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'ir_recep' : [['d','i'],['Recepteur IR','pin'],['o','-', 'darkred', 1]]}
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# Couleurs
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color_passive = (0.800, 0.005, 0.315,1) # bouton non activable : magenta
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color_active = (0.799, 0.130, 0.063,1) # bouton activable : orange
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color_hl = (0.8, 0.8, 0.8, 1) # bouton focus : blanc
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color_activated = (0.8, 0.619, 0.021, 1) # bouton activé numériquement uniquement : jaune
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color_activated_real = (0.799, 0.031, 0.038, 1) # élément activé physiquement uniquement : rouge (hors clic)
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color_activated_dbl = (0.246, 0.687, 0.078, 1) # élément activé physiquement et numériquement : vert clair
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# Constantes UPBGE
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JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
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JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
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ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED
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###############################################################################
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# Initialisation de la scène
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###############################################################################
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def init(cont):
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if cont.sensors['Init'].positive == False: # 1 seule fois
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return False
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twin.manip_init() # Manipulation du modèle 3D
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twin.cmd_init() # Commandes
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# Brochage
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for pin in pin_config:
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# print (pin_config[pin][1][0], pin_config[pin][1][1])
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scene.objects[pin_config[pin][1][0]][pin_config[pin][1][1]] = None
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# Mémorisation de la position et orientation des composants du système
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scene.objects['Portail']['init_lx']=scene.objects['Portail'].worldPosition.x
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scene.objects['Portail']['init_ly']=scene.objects['Portail'].worldPosition.y
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scene.objects['Portail']['init_lz']=scene.objects['Portail'].worldPosition.z
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scene.objects['Engrenage']['init_rx']=scene.objects['Engrenage'].worldOrientation.to_euler().x
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scene.objects['Engrenage']['init_ry']=scene.objects['Engrenage'].worldOrientation.to_euler().y
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scene.objects['Engrenage']['init_rz']=scene.objects['Engrenage'].worldOrientation.to_euler().z
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# Groupe de focus pour les actionneurs
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twin.cycle_def_focusgroup([["Moteur","blue"] ,
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["Reducteur","blue"],
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["Pattes moteur","blue"],
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["Engrenage","blue-dark"],
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["Engrennage patte","blue-dark"],
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["Engrenage vis1","grey"],
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["Engrenage vis2","grey"],
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["Engrenage vis3","grey"]], "Moteur : mot_o(True | False), mot_f(True | False)")
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twin.cycle_def_focusgroup([["Led", "led_yellow"]], "Gyrophare : gyr(True | False)")
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# Focus sur les boutons et capteurs
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scene.objects['Bp cote cour']['description']="Bouton poussoir coté cour : bp_int()"
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scene.objects['Bp cote rue']['description']="Bouton poussoir coté rue : bp_ext()"
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scene.objects['Microrupteur fdc ouvert']['description']="Capteur fin de course portail ouvert : fdc_o()"
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scene.objects['Microrupteur fdc ferme']['description']="Capteur fin de course portail fermé : fdc_f()"
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scene.objects['Emetteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
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scene.objects['Recepteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
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system_init() # Initialisation du système
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scene.objects['System']['plot_proc'] = None # Initialisation du processus plot
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def get_pin_config():
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return pin_config
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###############################################################################
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# Actionneurs
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###############################################################################
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##
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# Moteur et portail
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##
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def mot (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
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vitesse = 0.05
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pas_portail = 2.35619/0.3 # pas echelle 1:1 = 2.35619 -> pas à l'échelle de la maquette (0,3) : 2.35619/0.3 = 7,85396 FIXME à enlever
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pas_engrenage = math.pi/7 # z = 14 FIXME à enlever
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obj_engrenage = scene.objects['Engrenage']
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obj_portail = scene.objects['Portail']
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# obj_portail['x']= scene.objects['Portail'].localPosition.x # Affichage de la position du portail
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speed= obj['speed'] # 0,5 en tour / seconde -> course de 500 mm en 4s
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speed= 0.1
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scene.objects['System']['scale']=0.33
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# speed= obj['speed'] # 0,2 en tour / seconde -> course de 500 mm en 20s
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gear_radius = ((obj_engrenage['diameter'])/2) *(1/scene.objects['System']['scale']) # diametre : 40 mm et scale : 0,0033
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if obj['close']:
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print ("speed :", speed)
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print ("gear_radius :", gear_radius)
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print ("Vitesse engrenage : ", speed * 2 * math.pi*(1/60), pas_engrenage*vitesse)
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print ("Vitesse portail : ", speed * 2 * math.pi * gear_radius*(1/60), pas_portail*vitesse)
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print ("Ratio Vitesse portail/ Vitesse engrenage : ",( speed * 2 * math.pi * gear_radius*(1/60))/(speed * 2 * math.pi *(1/60)), pas_portail/pas_engrenage)
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# Ouvrir
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if obj['open']:
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obj_engrenage.applyRotation((0, 0, -speed * 2 * math.pi), True)
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obj_portail.applyMovement((-speed * math.pi * gear_diameter, 0, 0), True)
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# obj_engrenage.applyRotation((0, 0, -pas_engrenage*vitesse), True)
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# obj_portail.applyMovement((-pas_portail*vitesse, 0, 0), True)
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Moteur']['pin_o'] is not None:
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if scene.objects['Moteur']['pin_f'] is not None:
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scene.objects['Moteur']['pin_f'].write(0)
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scene.objects['Moteur']['pin_o'].write(1)
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# Fermer
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# else: # Pas de priorité
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if obj['close']:
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obj_engrenage.applyRotation((0, 0, speed * 2 * math.pi*(1/60)), True)
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obj_portail.applyMovement((speed * 2 * math.pi * gear_radius*(1/60), 0, 0), True)
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# obj_engrenage.applyRotation((0, 0, pas_engrenage*vitesse), True)
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# obj_portail.applyMovement((pas_portail*vitesse, 0, 0), True)
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Moteur']['pin_f'] is not None:
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if scene.objects['Moteur']['pin_o'] is not None:
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scene.objects['Moteur']['pin_o'].write(0)
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scene.objects['Moteur']['pin_f'].write(1)
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# Arrêrer
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if obj['open']== False and obj['close'] == False :
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Moteur']['pin_f'] is not None:
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if scene.objects['Moteur']['pin_o'] is not None:
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scene.objects['Moteur']['pin_o'].write(0)
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scene.objects['Moteur']['pin_f'].write(0)
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###############################################################################
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# Capteurs fin de course
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###############################################################################
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##
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# Etat capteur fin de course portail ouvert
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##
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def fdc_o (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Arduino -> Modele 3D
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if scene.objects['System']['twins']:
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if obj['pin'] is not None:
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if obj['pin'].read()==True and obj['activated_real'] == False :
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obj['activated_real'] = True
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if obj['pin'].read()==False and obj['activated_real'] == True :
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obj['activated_real'] = False
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# Etat capteur en fonction de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
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if scene.objects['Portail'].localPosition.x <= 0 and obj['activated'] == False :
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obj['activated'] = True
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if scene.objects['Portail'].localPosition.x > 0 and obj['activated'] == True :
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True:
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obj['activated'] = True
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# Couleurs
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twin.cycle_sensitive_color(obj)
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##
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# Etat capteur fin de course portail fermé
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##
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def fdc_f (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Arduino -> Modele 3D
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if scene.objects['System']['twins']:
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if obj['pin'] is not None:
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if obj['pin'].read()==True and obj['activated_real'] == False :
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obj['activated_real'] = True
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if obj['pin'].read()==False and obj['activated_real'] == True :
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obj['activated_real'] = False
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# Etat capteur en fonction de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
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if scene.objects['Portail'].localPosition.x >= 218 and obj['activated'] == False :
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obj['activated'] = True
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if scene.objects['Portail'].localPosition.x < 218 and obj['activated'] == True :
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True:
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obj['activated'] = True
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# Couleurs
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twin.cycle_sensitive_color(obj)
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###############################################################################
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# Capteur barrage
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###############################################################################
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##
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# Emetteur IR
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##
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def ir_emet (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Mouse over
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if obj['mo'] == True and obj['click'] == False and obj.color !=color_hl:
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obj.color =color_hl
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return
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# Passif
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if obj['active'] == False and obj.color !=color_passive:
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obj.color =color_passive
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scene.objects['Emetteur IR Led'].setVisible(True,False)
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scene.objects['Emetteur IR Led-on'].setVisible(False,False)
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scene.objects['Recepteur IR']['active'] = False
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Emetteur IR']['pin'] is not None:
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scene.objects['Emetteur IR']['pin'].write(0)
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return
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# Active
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if obj['active']:
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# Allumage
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if scene.objects['Emetteur IR Led-on'].visible == False:
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scene.objects['Emetteur IR Led-on'].setVisible(True,False)
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scene.objects['Emetteur IR Led'].setVisible(False,False)
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obj.color = color_active
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scene.objects['Recepteur IR']['active'] = True
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Emetteur IR']['pin'] is not None:
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scene.objects['Emetteur IR']['pin'].write(1)
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# Forçage par clic
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if obj['click'] == True:
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obj['activated'] = True
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scene.objects['Recepteur IR']['activated'] = True
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# Couleurs
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# FIXME : à faire
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if obj['activated'] == True and obj.color !=color_activated:
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obj.color =color_activated
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if obj['activated'] == False :
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if obj['mo'] == True and obj.color !=color_hl:
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obj.color =color_hl
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if obj['mo'] == False and obj.color !=color_active:
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obj.color =color_active
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##
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# Récepteur IR
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# FIXME : Modele 3D -> Arduino à faire
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##
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def ir_recep (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Mouse over
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if obj['mo'] == True and obj['click'] == False and obj.color !=color_hl:
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obj.color =color_hl
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return
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# Passif
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if obj['active'] == False and obj.color !=color_passive:
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obj.color =color_passive
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return
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# Active
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if obj['active']:
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# Forçage par clic
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if obj['click'] == True:
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obj['activated'] = True
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scene.objects['Emetteur IR']['activated'] = True
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# Couleurs
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# FIXME : à faire
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if obj['activated'] == True and obj.color !=color_activated:
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obj.color =color_activated
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if obj['activated'] == False :
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if obj['mo'] == True and obj.color !=color_hl:
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obj.color =color_hl
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if obj['mo'] == False and obj.color !=color_active:
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obj.color =color_active
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###############################################################################
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# Système
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###############################################################################
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##
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# Initialisation du système
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##
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def system_init ():
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system_reset()
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##
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# Réinitialisation du système
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##
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def system_reset ():
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# Grille à l'état initial
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scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
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scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
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scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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# Moteur à l'état initial
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rres=0.001 # resolution rotation
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obj1=scene.objects['Engrenage']
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while (obj1.localOrientation.to_euler().y) > 1.1*rres :
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obj1.applyRotation((0, 0, -rres), True)
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while (obj1.localOrientation.to_euler().y) < -1.1*rres :
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obj1.applyRotation((0, 0, rres), True)
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# Gyrophare à l'état initial
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scene.objects['Led'].setVisible(True,False)
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scene.objects['Led-on'].setVisible(False,False)
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# Capteur barrage IR
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scene.objects['Emetteur IR Led'].setVisible(True,False)
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scene.objects['Emetteur IR Led-on'].setVisible(False,False)
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scene.objects['Emetteur IR'].color = color_passive
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scene.objects['Recepteur IR'].color = color_passive
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# I/O à l'état initial
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scene.objects['Led']['activated']=False
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scene.objects['Moteur']['open']=False
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scene.objects['Moteur']['close']=False
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scene.objects['Microrupteur fdc ouvert']['activated']=False
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scene.objects['Microrupteur fdc ouvert']['activated_real']=False
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scene.objects['Microrupteur fdc ferme']['activated']=False
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scene.objects['Microrupteur fdc ferme']['activated_real']=False
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scene.objects['Bp cote cour']['activated'] =False
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scene.objects['Bp cote cour']['activated_real'] =False
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scene.objects['Bp cote rue']['activated'] =False
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scene.objects['Bp cote rue']['activated_real'] =False
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scene.objects['Emetteur IR']['activated'] =False
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scene.objects['Emetteur IR']['activated_real'] =False
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scene.objects['Emetteur IR']['active'] =False
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scene.objects['Recepteur IR']['activated'] =False
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scene.objects['Recepteur IR']['active'] =False
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scene.objects['Recepteur IR']['activated_real'] =True # Absence d'obstacle -> True, présence d'obstacle -> False
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